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core: hid: Restore motion state on refresh and clamp motion values

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Narr the Reg
2023-02-21 21:47:47 -06:00
parent 673accd630
commit 739a81055f
3 changed files with 30 additions and 2 deletions
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14
src/core/hid/motion_input.cpp
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@ -10,6 +10,8 @@ MotionInput::MotionInput() {
// Initialize PID constants with default values
SetPID(0.3f, 0.005f, 0.0f);
SetGyroThreshold(ThresholdStandard);
ResetQuaternion();
ResetRotations();
}
void MotionInput::SetPID(f32 new_kp, f32 new_ki, f32 new_kd) {
@ -20,11 +22,19 @@ void MotionInput::SetPID(f32 new_kp, f32 new_ki, f32 new_kd) {
void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
accel = acceleration;
accel.x = std::clamp(accel.x, -AccelMaxValue, AccelMaxValue);
accel.y = std::clamp(accel.y, -AccelMaxValue, AccelMaxValue);
accel.z = std::clamp(accel.z, -AccelMaxValue, AccelMaxValue);
}
void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
gyro = gyroscope - gyro_bias;
gyro.x = std::clamp(gyro.x, -GyroMaxValue, GyroMaxValue);
gyro.y = std::clamp(gyro.y, -GyroMaxValue, GyroMaxValue);
gyro.z = std::clamp(gyro.z, -GyroMaxValue, GyroMaxValue);
// Auto adjust drift to minimize drift
if (!IsMoving(IsAtRestRelaxed)) {
gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f);
@ -61,6 +71,10 @@ void MotionInput::ResetRotations() {
rotations = {};
}
void MotionInput::ResetQuaternion() {
quat = {{0.0f, 0.0f, -1.0f}, 0.0f};
}
bool MotionInput::IsMoving(f32 sensitivity) const {
return gyro.Length() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
}